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FR3142731B1 - Procédé de pilotage d’un véhicule dans sa voie de circulation - Google Patents

Procédé de pilotage d’un véhicule dans sa voie de circulation

Info

Publication number
FR3142731B1
FR3142731B1 FR2212759A FR2212759A FR3142731B1 FR 3142731 B1 FR3142731 B1 FR 3142731B1 FR 2212759 A FR2212759 A FR 2212759A FR 2212759 A FR2212759 A FR 2212759A FR 3142731 B1 FR3142731 B1 FR 3142731B1
Authority
FR
France
Prior art keywords
vehicle
steering
centerline
lane
motor vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2212759A
Other languages
English (en)
Other versions
FR3142731A1 (fr
Inventor
Joan Davins
Raphael Quilliard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to FR2212759A priority Critical patent/FR3142731B1/fr
Priority to EP23213904.8A priority patent/EP4382382A1/fr
Publication of FR3142731A1 publication Critical patent/FR3142731A1/fr
Application granted granted Critical
Publication of FR3142731B1 publication Critical patent/FR3142731B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0012—Feedforward or open loop systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L’invention concerne un procédé de pilotage d’un véhicule automobile (10) circulant sur une voie de circulation (31) d’une route (30), comprenant des étapes de : - acquisition des lignes de bord (33, 35) de ladite voie de circulation, - détermination d’une ligne médiane (T0), - acquisition d’un écart latéral (y) entre le véhicule automobile et la ligne médiane, - calcul d’une consigne de pilotage du véhicule automobile, et - pilotage par le calculateur (11) d’un actionneur de direction dudit véhicule. Selon l’invention, lorsque deux conditions sont réunies, à savoir : - qu’un conducteur (40) du véhicule exerce une action pour commander un décalage du véhicule par rapport à ladite ligne médiane puis qu’il cesse cette action, et - que, au moment où il cesse ladite action, l’écart latéral est supérieur à un seuil d’écart, ladite consigne de pilotage est déterminée pour que le véhicule automobile suive une ligne latérale décalée latéralement de la ligne médiane. Figure pour l’abrégé : Fig.1
FR2212759A 2022-12-05 2022-12-05 Procédé de pilotage d’un véhicule dans sa voie de circulation Active FR3142731B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2212759A FR3142731B1 (fr) 2022-12-05 2022-12-05 Procédé de pilotage d’un véhicule dans sa voie de circulation
EP23213904.8A EP4382382A1 (fr) 2022-12-05 2023-12-04 Procédé de pilotage d'un véhicule dans sa voie de circulation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2212759 2022-12-05
FR2212759A FR3142731B1 (fr) 2022-12-05 2022-12-05 Procédé de pilotage d’un véhicule dans sa voie de circulation

Publications (2)

Publication Number Publication Date
FR3142731A1 FR3142731A1 (fr) 2024-06-07
FR3142731B1 true FR3142731B1 (fr) 2026-01-16

Family

ID=85221749

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2212759A Active FR3142731B1 (fr) 2022-12-05 2022-12-05 Procédé de pilotage d’un véhicule dans sa voie de circulation

Country Status (2)

Country Link
EP (1) EP4382382A1 (fr)
FR (1) FR3142731B1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8977419B2 (en) * 2010-12-23 2015-03-10 GM Global Technology Operations LLC Driving-based lane offset control for lane centering
DE102012214847A1 (de) * 2012-08-21 2014-03-27 Robert Bosch Gmbh Verfahren und Vorrichtung zum Führen eines Fahrzeugs innerhalb eines Fahrstreifens
WO2017022474A1 (fr) * 2015-07-31 2017-02-09 日立オートモティブシステムズ株式会社 Dispositif de commande de direction assistée de véhicule

Also Published As

Publication number Publication date
FR3142731A1 (fr) 2024-06-07
EP4382382A1 (fr) 2024-06-12

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